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ServiceClient<>::hasPendingCallToServer()

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This commit is contained in:
Pavel Kirienko
2015-05-16 23:57:11 +03:00
parent 0553d18cf9
commit 5e5540b8ce
2 changed files with 27 additions and 0 deletions
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libuavcan/include/uavcan/node/service_client.hpp
+18
View File
@@ -165,6 +165,13 @@ protected:
bool operator()(const CallState& state) const { return (state.getCallID() == id) && !state.hasTimedOut(); }
};
struct ServerSearchPredicate
{
const NodeID server_node_id;
ServerSearchPredicate(NodeID nid) : server_node_id(nid) { }
bool operator()(const CallState& state) const { return state.getCallID().server_node_id == server_node_id; }
};
MonotonicDuration request_timeout_;
ServiceClientBase(INode& node)
@@ -329,6 +336,11 @@ public:
*/
void cancelAllCalls();
/**
* Checks whether there's currently a pending call addressed to the specified node ID.
*/
bool hasPendingCallToServer(NodeID server_node_id) const;
/**
* Service response callback must be set prior service call.
*/
@@ -538,6 +550,12 @@ void ServiceClient<DataType_, Callback_, NumStaticCalls_>::cancelAllCalls()
SubscriberType::stop();
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
bool ServiceClient<DataType_, Callback_, NumStaticCalls_>::hasPendingCallToServer(NodeID server_node_id) const
{
return NULL != call_registry_.find(ServerSearchPredicate(server_node_id));
}
}
#endif // UAVCAN_NODE_SERVICE_CLIENT_HPP_INCLUDED
libuavcan/test/node/service_client.cpp
+9
View File
@@ -109,6 +109,8 @@ TEST(ServiceClient, Basic)
ASSERT_EQ(0, client2.getNumPendingCalls());
ASSERT_EQ(0, client3.getNumPendingCalls());
ASSERT_FALSE(client1.hasPendingCallToServer(1));
client1.setCallback(handler.bind());
client2.setCallback(client1.getCallback());
client3.setCallback(client1.getCallback());
@@ -128,6 +130,11 @@ TEST(ServiceClient, Basic)
ASSERT_LT(0, client3.call(99, request)); // Will timeout!
ASSERT_LT(0, client3.call(1, request)); // OK - second request
ASSERT_TRUE(client1.hasPendingCallToServer(1));
ASSERT_TRUE(client2.hasPendingCallToServer(1));
ASSERT_TRUE(client3.hasPendingCallToServer(99));
ASSERT_TRUE(client3.hasPendingCallToServer(1));
std::cout << "!!! Spinning!" << std::endl;
ASSERT_EQ(3, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Listening now!
@@ -211,9 +218,11 @@ TEST(ServiceClient, Rejection)
ASSERT_EQ(1, nodes.b.getDispatcher().getNumServiceResponseListeners());
ASSERT_TRUE(client1.hasPendingCalls());
ASSERT_TRUE(client1.hasPendingCallToServer(1));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(200));
ASSERT_FALSE(client1.hasPendingCalls());
ASSERT_FALSE(client1.hasPendingCallToServer(1));
ASSERT_EQ(0, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Timed out